JP6872911B2 - Travel route generator - Google Patents

Description

The present invention relates to a traveling route generating device that generates a traveling route for automatic traveling of a field work vehicle.

It has been proposed that tilling work by tractors and harvesting work by combine harvesters be carried out by automatic driving. The shapes of the fields are different from each other, and it is necessary to generate a traveling route associated with the outer shape of the field in order to perform automatic traveling.

Patent Document 1 discloses a tractor that performs tillage work in a field by automatic traveling. This tillage work repeats the rotating work of orbiting the area around the field and the straight-ahead work of the central area of the field (the inner area of the area around the field) while turning 180 ° in the area around the field (also called a headland). It is divided into round-trip straight-ahead work. At that time, the number of turn-back strokes from the start point to the end point of the round-trip straight-ahead work and the number of laps from the start point to the end point of the turning work are determined based on the work conditions including the specifications of the work vehicle. It is also proposed that the reciprocating straight-ahead work is performed first, and then the turning work is performed, and that the starting point of this turning work is near the corner closest to the entrance and exit of the field.

The field work vehicle according to Patent Document 2 includes a route calculation unit that calculates a travel route for automatic travel based on the topographical data of the field read from the field information storage unit as a basic condition. This route calculation unit obtains the outer shape of the field from the topographical data, and calculates a travel route starting from the set travel start point and ending at the travel end point. At that time, in many cases, a place for entering and exiting the field from the ridge or the farm road is determined in the field. Therefore, in Patent Document 2, the running start point is defined by the entrance position of the field, and the running end point is defined. Is proposed to be defined by the exit position of the field. When the travel route is calculated by the route calculation unit, the position of the own vehicle is obtained based on the positioning data (latitude / longitude data) obtained from the GPS module, and driving support is provided so that the traveling aircraft travels accurately on the traveling route. The unit assists in the operation of this field work vehicle.

Japanese Unexamined Patent Publication No. 10-66405 Japanese Unexamined Patent Publication No. 2015-112071

Generally, the entrance / exit for the field work vehicle to enter / exit the field is determined for each field. Generally, the field is low from the surrounding farm roads and ridges, and the running surface of the entrance is sloping and its width is narrow. Advanced steering is required to pass through such doorways. Therefore, when a field work vehicle passes through such an entrance / exit, automatic traveling is difficult and manual traveling is relied on. For this reason, even if a traveling route covering the field is generated with the entrance and exit as the starting point and the entrance and exit as the ending point, the section between the entrance and exit and the point where the field work vehicle can easily travel by automatic driving is operated. A person will get into a field work vehicle and drive manually. That is, the field work vehicle manually passes through the doorway and enters the field, and at the point where the automatic driving starts, the driver gets off the field work vehicle and returns to the ridge on foot. Furthermore, when the automatic driving of the traveling route part where automatic driving is easy is completed, the driver walks to the field work vehicle, gets into the field work vehicle, manually passes through the doorway, and moves the field work vehicle out of the field. put out. As is clear from Patent Document 1 and Patent Document 2, in the conventional technique, such switching between manual operation and automatic operation is not considered, much less the driver's field that occurs at the time of such switching. Walking inside was not considered at all. If the switching between manual driving and automatic driving is performed at a position far away from the place where the driver waits, the driver has the inconvenience of having to walk in the field for a long time.

An object of the present invention is to provide a traveling route generating device in consideration of a driver's walking in a field, which is required when switching between manual driving and automatic driving.

According to the present invention, travel route generating device for generating a travel route for automatic traveling of the field work vehicle includes a field data input unit for inputting field data including a field of contour data and doorways, the travel to cover the field A travel route generation unit that generates a route, a landing point determination unit that determines a landing point at which the driver gets off from the field work vehicle on the travel route, and a boarding point at which the driver gets into the field work vehicle on the travel route. The landing point determination unit to be determined and the travel path portion between the landing point and the landing point on the travel route are defined as an automatic driving travel route, and between the entrance and exit and the landing point on the travel route. And a traveling route dividing portion that defines a traveling route portion between the riding point and the entrance / exit as a traveling route for manual driving.
The traveling route generation unit includes a circuit route determination unit, a reference straight line determination unit, an inner route determination unit, and an entry / exit route determination unit.
The orbital route determination unit determines an orbital travel route for orbiting the outer peripheral region of the field.
The inner route determining unit determines an inner traveling route for traveling in a central region located inside the outer peripheral region, which is composed of a straight route and a U-turn route connecting the straight routes.
The entry / exit route determination unit extends from the farm road along the passage direction of the entrance / exit and connects to the inner travel path in the field, and connects to the circuit travel path to connect the field to the entrance / exit. Determine the exit route that extends along the passage direction and exits to the farm road.
The travel route generation unit generates the travel route by sequentially connecting the approach route, the inner travel route, the circuit travel route, and the exit route .
The exit route is determined so that the exit point is on an extension of the slope of the entrance and exit and is close to the ridge in the vicinity of passing the entrance and exit in the approach route, and the boarding point is on the extension of the slope of the entrance and exit. the determined to be close in front of the doorway to the banks, and the down point and the field work vehicle door opening in the seat point is Ru are determined to face the ridge in.

According to this configuration, in the traveling route generated so as to cover the field in consideration of the entrance and exit, the descending position where the driver gets off the field work vehicle and the riding position where the driver gets into the field work vehicle are appropriately determined. Based on this, a traveling route for manual driving and a traveling route for automatic driving are defined. Therefore, the transition location between the manual driving and the automatic driving in which the driver gets on and off the field work vehicle is an appropriate position, and the driver's improper walking in the field is avoided. Further, the inner traveling path located inside the previously determined orbital traveling path is determined based on the reference straight line, and the traveling direction of the orbiting traveling path is based on the passing direction of the entrance / exit, and the work vehicle makes the orbiting traveling path. It can be decided to smoothly pass through the doorway and go out of the field. As a result, it is possible to avoid turning of the work vehicle due to a large steering angle near the entrance / exit of the work vehicle, which would damage the ground on which the work has been completed.

In one of the preferred embodiments of the present invention, the landing point determination unit determines the landing point and the landing point determination unit determines the landing point based on the user's operation input. In this configuration, the driver gets on and off the field work vehicle at a position desired by the driver according to the characteristics of the field, the shape of the entrance / exit, and the specifications of the field work vehicle.

In addition, in consideration of various conditions, the driving route for manual driving and the driving route for automatic driving are automatically separated at the optimum position, and the driver can get on and off the field work vehicle at that position. Suitable. This prevents the driver from inadvertently determining the landing point and the boarding point at inappropriate positions. For this purpose, in one of the preferred embodiments of the present invention, the determination of the landing point by the landing point determination unit and the determination of the landing point by the landing point determination unit are the selected landing point conditions and It is done automatically based on the boarding point conditions. Preferable boarding point conditions and getting-off point conditions used at that time are that they are close to the extension of the slope of the entrance and exit, that they are close to the ridges near the entrance and exit, and that the entrance and exit of the field work vehicle face the ridges. And so on. By satisfying such conditions, walking from the field work vehicle to the ridge and walking from the ridge to the field work vehicle become appropriate for the driver and the field.

It is a schematic diagram which shows the traveling path which shows the position where a driver gets on and off in a field at the time of switching between automatic driving and manual driving, and the movement of a field work vehicle along the traveling path. It is a side view of the tractor which is an example of a field work platform. It is a functional block diagram which shows the control function part which functions as a travel path generator. It is explanatory drawing explaining an example of the travel path generated by the travel path generation apparatus.

One of the embodiments of the traveling route generator according to the present invention will be described with reference to the drawings. In this embodiment, the field work vehicle is a tractor in which the vehicle body 1 is equipped with the work device 30, and the field work vehicle travels along the travel path in the field. In FIG. 1, a tractor stopped outside the doorway of a field passes through the doorway by manual driving, enters the field, switches to automatic driving, works on most of the field, and finally returns to manual driving. An example of a traveling route is shown in which the vehicle is switched, manually travels in a corner area that is difficult to drive automatically, passes through an entrance and exit, and exits the field. In the example of FIG. 1, the driver passes through the doorway from the farm road, stops at a landing point (indicated by OP in FIG. 1) set at the ridge near the doorway, and the driver gets off the tractor. From this landing point, the tractor is switched to automatic driving and starts working driving along the set driving route. A riding point (indicated by IP in Fig. 1) is set at the position of the traveling route that leaves only the area adjacent to the outermost ridge, and the tractor stops at this riding point and changes from automatic driving to manual driving. Can be switched. Since this landing point is set at the ridge, the driver gets on the tractor from the ridge. The area adjacent to the outermost ridge is manually driven and eventually passes through the doorway to enter the farm road. Of course, the area adjacent to the outermost ridge may also be operated by automatic traveling, and only the route passing through the doorway may be manually traveled. However, since the entrance and exit of the field has a narrow slope and automatic running is difficult, manual running is used.

The traveling route illustrated in FIG. 1 is a traveling route that is often used in field work, and is substantially an inner traveling route consisting of a straight route and a U-turn route connecting each straight route, and an outer circumference of the field. It consists of a circuit route that goes around the area, an approach route that passes through the doorway from the farm road and enters the field, and an exit route that passes through the doorway from the field and exits to the farm road. That is, the field is divided into an outer peripheral region and a central region located inside the outer peripheral region, an inner traveling route is set in the central region, and a circular traveling route is set in the outer peripheral region. The outer peripheral region is an region for securing the space required for the U-turn path, and the width thereof is determined based on the working width of the work vehicle and the minimum turning radius. The interval of the straight route in the inner traveling route is the working width of the work vehicle, specifically, the working width considering the overlap. In FIG. 1, the straight route is indicated by the symbol SL, the U-turn route is indicated by the symbol TL, the inner travel route is indicated by the symbol IL, the orbital travel route is indicated by the symbol CL, the approach route is indicated by the symbol ML1, and the exit route is indicated by the symbol ML2. .. The inner traveling route including the straight route and the U-turn route is a traveling route suitable for automatic traveling, and in an actual field, this inner traveling route is the majority of the traveling route covering the field.

As shown in FIG. 2, this tractor is provided with a driver's cab 20 in a central portion of a vehicle body 1 supported by front wheels 11 and rear wheels 12. The rear part of the vehicle body 1 is equipped with a work device 30 which is a rotary tillage device via a hydraulic elevating mechanism 31. The front wheel 11 functions as a steering wheel, and the traveling direction of the tractor is changed by changing the steering angle thereof. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual driving, the front wheels 11 are steered by operating the steering wheel 22 arranged in the driver's cab 20. The driver's cab 20 is equipped with a general-purpose terminal 4 that receives commands from the user and provides information to the user. A satellite positioning module 80 is provided in the cabin 21 of the tractor. As a component of the satellite positioning module 80, a satellite antenna for receiving GNSS (global navigation satellite system) signals (including GPS signals) is attached to the ceiling area of the cabin 21. The satellite positioning module 80 can include an inertial navigation module incorporating a gyro acceleration sensor and a magnetic orientation sensor in order to complement satellite navigation. Of course, the inertial navigation module may be provided at a place different from the satellite positioning module 80.

FIG. 3 shows a control system built on this tractor. The control system of this embodiment includes a first control unit which is a general-purpose terminal 4 having a graphical user interface, a control unit 5 which controls a vehicle body 1 of a tractor and a work device 30, and a start and stop of running of the tractor. It is equipped with a remote controller 84 for wirelessly controlling the device from the outside. The traveling route generation device according to the present invention is modularized as a route generation module 6 and incorporated in a general-purpose terminal 4.

In addition to the route generation module 6, the general-purpose terminal 4 has various functions of a general computer system such as a communication control unit 40 and a touch panel 60. The general-purpose terminal 4 is connected to the control unit 5 in a data exchangeable manner by an in-vehicle LAN, wireless communication, wired communication, or the like. Further, the general-purpose terminal 4 can exchange data with the management computer 100 constructed in the remote management center KS via a wireless line or the Internet. Further, if the general-purpose terminal 4 is composed of a tablet computer, a mobile phone, or the like and is connected to the control system of the tractor so that data can be exchanged, the general-purpose terminal 4 can be taken out of the tractor and used.

In this embodiment, the field information including the position on the map of the field and the arrangement of the farm roads surrounding the field is stored in the field information storage unit 101 of the management computer 100, and this field information is the field to be worked on. You will need it to find out. The management computer 100 also includes a work plan management unit 102 that manages a work plan that describes the work contents in the designated field. The general-purpose terminal 4 can access the management computer 100 and download the field information from the field information storage unit 101 and the work plan from the work plan management unit 102. Alternatively, the general-purpose terminal 4 can input field information and a work plan through a recording medium such as a USB memory.

The route generation module 6 includes a field data input unit 61, a travel route generation unit 62, a landing point determination unit 63, a boarding point determination unit 64, and a travel route division unit 65 as functional units for generating a travel route. The travel route generation unit 62 includes a circuit route determination unit 621, a reference straight line determination unit 622, an inner route determination unit 623, and an entry / exit route determination unit 624 in order to generate a basic travel route. The basic role of each functional unit of the route generation module 6 will be described with reference to the flow chart of the travel route generation process shown in FIG.

The field data input unit 61 inputs field outline data indicating the outer shape of the field to be worked on and entrance / exit position data indicating the position and shape of the entrance / exit of the field, and develops the data in the working memory area. The orbital route determination unit 621 determines an orbital travel route for orbiting the outer peripheral region of the field. The distance required for a U-turn is calculated based on the working width of the tractor (to be exact, the working width considering the overlap width) and the appropriate turning radius, and the width is an integral multiple of the working width that can secure that distance. The orbital region to be determined is determined as the outer peripheral region allocated for the orbital travel path. When the outer peripheral region is determined, the number of laps of the lap traveling path is determined. In general tillage work, a region corresponding to a lap traveling path of 2 to 3 laps is set as an outer peripheral region. As shown in FIG. 1, the region inside the outer peripheral region is the central region.

The reference straight line determining unit 622 extends parallel to the reference side of the field and determines a reference straight line that fills the central region at predetermined intervals. This reference straight line serves as the basis for the travel path in the central region. The determination of such a reference straight line is a preprocessing for generating an inner traveling path. At that time, as the reference side of the field, the longest side of the approximate polygon created by the outer shape of the field is generally adopted. In the example of FIG. 4, the longest side having a trapezoidal outer shape (quadrangle) is selected as the reference side, and a reference straight line parallel to this reference side and filling the central region with the working width is set. The inner route determining unit 623 uses a reference straight line in the central region as a straight line, and connects each straight line with a U-turn path to generate a continuous inner traveling path.

Next, the entry / exit route determination unit 624 passes through the entrance / exit from the farm road and enters the field, and connects to the inner travel route and the circuit traveling route to pass through the entrance / exit from the field and exit to the farm road. Determine the exit route. In the case of tillage work, it is common to first carry out work running along the inner running path, then carry out work running along the orbiting running path, and then leave the field as it is through the doorway. Therefore, the approach route is determined to extend along the passage direction of the doorway and smoothly connect to the end point of the inner travel route, and the exit route extends along the passage direction of the doorway and smoothly connects to the orbital travel route. Will be decided. The travel route generation unit 62 generates a basic travel route for the tractor to travel in this field by sequentially connecting the approach route, the inner travel route, the circuit travel route, and the exit route determined in this way. To do.

The landing point determination unit 63 conforms to a predetermined landing point condition in the basic travel route generated by the travel route generation unit 62, preferably in the route portion that has passed through the entrance / exit of the approach route and entered the outer peripheral region. Determine the position as the landing point. A driver who gets into a tractor on a farm road causes the tractor to enter the outer peripheral area along the approach route, stops the tractor at this drop-off point, switches from manual driving to automatic driving, and then disembarks from the tractor. After that, the automatic operation is started using the remote controller 84.

The boarding point determination unit 64 rides on a position that meets a predetermined landing point condition in the basic travel route generated by the travel route generation unit 62, preferably in the route portion in the outer peripheral region away from the entrance / exit of the exit route. Determined as a point. The tractor stops at this riding position. The driver who gets into the stopped tractor manually drives the tractor along the exit route, passes through the doorway, and drives the tractor to the farm road. In the example of FIG. 1, the exit route includes a circuit route for one round, but a short exit route that only passes through the entrance / exit may be selected.

The landing point conditions and boarding point conditions for determining the landing point and boarding point are that they are close to the extension of the slope of the entrance, that they are close to the ridges near the doorway, and that the boarding / alighting points of the field work vehicle face the ridges. And so on. Basically, the landing point condition and the landing point condition are set so that the driver can easily walk from the field work vehicle to the ridge and from the ridge to the field work vehicle. The landing point condition and the boarding point condition may be the same, or the landing point and the boarding point may be the same point.

The landing point determination unit 63 and the landing point determination unit 64 can also determine the landing point and the landing point based on the user's operation input, instead of automatically determining the landing point and the landing point according to preset conditions and algorithms. Such user operation input is realized by designating a landing point and a boarding point with respect to the approach route, exit route, and circuit traveling route displayed on the touch panel 60.

Further, the traveling route dividing unit 65 defines the traveling route portion from the getting-off point to the riding point in the traveling route as an automatic traveling route (traveling route for automatic traveling), and between the entrance / exit and the getting-off point in the traveling route. And the part of the traveling route between the boarding point and the entrance / exit is defined as a manual traveling route (traveling route for manual driving). That is, the travel route division unit 65 divides the basic travel route generated by the travel route generation unit 62 into a manual travel route and an automatic travel route based on the landing point and the riding point, and finally A traveling route is generated and given to the control unit 5.

As shown in FIG. 3, the control unit 5, which is a core element of the control system of the tractor, includes an output processing unit 7, an input processing unit 8, and a communication processing unit 70 that function as input / output interfaces. The output processing unit 7 is connected to a vehicle traveling device group 71, a working device device group 72, a notification device 73, and the like, which are equipped on the tractor. The vehicle traveling device group 71 includes a steering motor 14, and although not shown, devices controlled for vehicle traveling such as a transmission mechanism and an engine unit. The work device group 72 includes a drive mechanism for the work device 30, an elevating mechanism 31 for raising and lowering the work device 30, and the like. The notification device 73 includes a display, a lamp, and a speaker. The notification device 73 is used to notify the driver and the observer of caution information and warning information such as driving precautions and deviation from the target traveling route in automatic steering traveling. The communication processing unit 70 has a function of transmitting the data processed by the control unit 5 to the management computer 100 and receiving various data from the management computer 100. Further, the communication processing unit 70 inputs a remote control command from the remote control 84.

The input processing unit 8 is connected to the satellite positioning module 80, the traveling system detection sensor group 81, the working system detection sensor group 82, the automatic / manual switching operation tool 83, and the like. The traveling system detection sensor group 81 includes a sensor that detects a traveling state such as an engine speed and a shifting state. The work system detection sensor group 82 includes a sensor that detects the position and inclination of the work device 30, a sensor that detects a work load, and the like. The automatic / manual switching operation tool 83 is a switch for selecting either an automatic traveling mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering.

Further, the control unit 5 is provided with a travel control unit 50, a work control unit 54, a vehicle position calculation unit 53, a travel route setting unit 55, and a notification unit 56. The own vehicle position calculation unit 53 calculates the own vehicle position based on the positioning data sent from the satellite positioning module 80. The travel control unit 50 that controls the vehicle travel equipment group 71 is configured to allow the tractor to travel in both automatic travel (automatic steering) and manual travel (manual steering). A travel control unit 52 is included. The manual driving control unit 51 controls the vehicle traveling device group 71 based on the operation by the driver. The automatic traveling control unit 52 calculates the directional deviation and the positional deviation between the traveling route set by the traveling route setting unit 55 and the position of the own vehicle, and generates an automatic steering command. This automatic steering command is output to the steering motor 14 via the output processing unit 7. The automatic traveling control unit 52 stops the tractor based on the stop command from the remote controller 84, and starts the traveling of the tractor based on the start command from the remote controller 84. The work control unit 54 gives a control signal to the work device group 72 in order to control the movement of the work device 30. The notification unit 56 generates a notification signal (display data or voice data) for notifying the driver or the monitor of necessary information, and supplies the notification signal (display data or voice data) to the notification device 73 incorporated in the instrument panel.

The travel route setting unit 55 receives the manual travel route (travel route for manual travel) and the automatic travel route (travel route for automatic travel) generated by the route generation module 6 from the general-purpose terminal 4 via the communication processing unit 70. Set as the target travel route for the tractor.

[Another Embodiment]
(1) In the above-described embodiment, the generation of a travel route for working in a field with one field work vehicle has been dealt with. A recently proposed coordinated driving control system that uses multiple self-driving field work vehicles to work in the field is a parent work vehicle that is manually driven by the driver and is under the control of the parent work vehicle. It consists of one or more child work vehicles that run unmanned and automatically. The child work vehicle passes through the doorway and moves to an appropriate position in the field by manual driving by the driver who got in outside the field before carrying out the actual work run. After that, the driver gets off the child work vehicle and transfers to the parent work vehicle. The child work platform is unmanned and automatically runs in cooperation with the manned parent work platform. The child work vehicle stops at an appropriate position after the work run is completed. The driver gets into the stopped child work vehicle again, passes through the doorway by manual driving, and exits the field. The driver's getting on and off required when switching between manual driving and automatic driving in such a child work vehicle can be smoothly performed by the traveling route generated by the traveling route generator of the present invention, and the driver's getting on and off can be performed smoothly. The burden is reduced. That is, the travel route generation device of the present invention can be satisfactorily applied to a child work vehicle in a cooperative travel control system.
(2) Each functional unit in the functional block diagram shown in FIG. 3 is mainly divided for explanatory purposes. In practice, each functional unit can be integrated with other functional units or divided into a plurality of functional units. For example, a configuration may be adopted in which the route generation module 6 is constructed on the management computer 100, and the travel route generated by the management computer 100 is downloaded to the control unit 5 of the work vehicle. Further, the route generation module 6 may be constructed in the control unit 5 of the work vehicle.
(3) In the above-described embodiment, the longest side of the field indicated by the polygon is used as the reference side, but the side of the field indicated by the polygon may be used as the reference side. Further, it is also possible to use a virtual side based on the side of the polygon (for example, the opposite side of the polygon or the side connecting adjacent sides) as the reference side.
(4) In the above-described embodiment, the travel route for work travel is substantially an inner travel route including a straight route and a U-turn route connecting the straight routes, and a traveling route for traveling around the outer peripheral region of the field. Although it was composed of a circular traveling route, a spiral traveling route or another traveling route that travels in a spiral shape in the field may be adopted instead.
(5) In the above-described embodiment, a tractor equipped with a rotary tiller as a work device 30 is taken up as a work vehicle, but in addition to such a tractor, for example, a rice transplanter, a fertilizer applicator, and a combine harvester are taken up. It can also be applied to agricultural work vehicles such as.

The travel route generation device according to the present invention is applicable to a field work vehicle that works in a field along a set travel route.

4: General-purpose terminal 5: Control unit 50: Travel control unit 51: Manual travel control unit 52: Automatic travel control unit 53: Own vehicle position calculation unit 55: Travel route setting unit 6: Route generation module 61: Field data input unit 62 : Travel route generation unit 621: Circular route determination unit 622: Reference straight line determination unit 623: Inner route determination unit 624: Enter / exit route determination unit 63: Exit point determination unit 64: Boarding point determination unit 65: Travel route division unit 80 : Satellite positioning module

Claims (3)

It is a travel route generator that generates a travel route for automatic driving of aerial work platforms.
A field data input unit for inputting field data including field outline data and entrance / exit, and a field data input unit.
A travel route generation unit that generates the travel route covering the field, and a travel route generation unit.
A landing point determination unit that determines a landing point at which the driver descends from the field work vehicle in the traveling route,
The riding point determination unit that determines the riding point on which the driver gets into the field work vehicle in the traveling route and the traveling route portion between the getting-off point and the riding point in the traveling route are defined as the traveling route for automatic driving. In addition, a traveling route dividing portion that defines a traveling path portion between the entrance and the exit point and the riding point and the entrance / exit in the traveling route as a driving route for manual driving is provided.
The traveling route generation unit includes a circuit route determination unit, a reference straight line determination unit, an inner route determination unit, and an entry / exit route determination unit.
The orbital route determination unit determines an orbital travel route for orbiting the outer peripheral region of the field.
The inner route determining unit determines an inner traveling route for traveling in a central region located inside the outer peripheral region, which is composed of a straight route and a U-turn route connecting the straight routes.
The entry / exit route determination unit extends from the farm road along the passage direction of the entrance / exit and connects to the inner travel path in the field, and connects to the circuit travel path to connect the field to the entrance / exit. Determine the exit route that extends along the passage direction and exits to the farm road.
The travel route generation unit generates the travel route by sequentially connecting the approach route, the inner travel route, the circuit travel route, and the exit route .
The exit route is determined so that the exit point is on an extension of the slope of the entrance and exit and is close to the ridge in the vicinity of passing the entrance and exit in the approach route, and the boarding point is on the extension of the slope of the entrance and exit. the determined to be close in front of the doorway to the banks, and wherein the field work vehicle door opening at the point and the ride point descended Ru are determined to face the ridge, traveling route generation device in. Wherein said determining point down by point determining unit down, and the determination of the seat point by the passenger point determining unit, travel route generating device according to claim 1 which is performed based on the operation input of the user. The first aspect of claim 1, wherein the determination of the landing point by the landing point determination unit and the determination of the landing point by the landing point determination unit are automatically performed based on the selected landing point condition and the landing point condition. Travel route generator.

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